加入送达后语音播报功能

mqtt连接速度慢，打算移动到另外一个核心里面，还没弄

src/FoodDeliveryBase.h

@@ -21,6 +21,8 @@ public:
   int8_t writeSeq = -1;        //飞控反馈 需写入航点序列号
   int8_t futureSeq = 0;        //记录将来要写入 航点序列号
   int8_t missionArkType = -1;  //航点写入是否成功
+  /*航点任务 送餐信息喊话*/
+  String questVoiceStr;
   /*前端模拟遥控的油门通道*/
   uint16_t channels[4] = { 1500, 1500, 1500, 1500 };
   /*初始化*/

src/main.cpp

@@ -422,6 +422,9 @@ void Task1(void *pvParameters)
     //显示重量
     //printf("pullweight: %d \n", pullweight);
     
+    /*保持mqtt心跳*/
+   // fc.mqttLoop(topicSub, topicSubCount);
+
     vTaskDelay(10);
   }
 }
@@ -965,6 +968,14 @@ void writeRoute(String topicStr) {
       double x = obj["tasks"][fc.writeSeq]["x"];
       double y = obj["tasks"][fc.writeSeq]["y"];
       double z = obj["tasks"][fc.writeSeq]["z"];
+      String str = obj["tasks"][fc.writeSeq]["sound"];
+      if ((str!=NULL)&&(str != ""))
+      {
+        fc.questVoiceStr = str;
+       // printf("writevoice str: %s \n", fc.questVoiceStr);
+       // if (fc.writeSeq==0) 
+        //  fhc.playText(fc.questVoiceStr);
+       }
       fc.logln((char*)"frame--");
       fc.logln(frame);
       //写入航点
@@ -1256,7 +1267,12 @@ void mavlink_receiveCallback(uint8_t c) {
               if (rngalt_cm==0) 
                 break;
               if (hss==HS_Locked) 
+              {   
                 Hook_autodown(rngalt_cm);
+                //报3次
+                if (fc.questVoiceStr!="")
+                  fc.playText(fc.questVoiceStr+"。"+fc.questVoiceStr+"。"+fc.questVoiceStr);
+              }
               else
                 if (hss==HS_Stop)  
                    Hook_resume();